JP6079761B2 - Driving support device, driving support method, and driving support program - Google Patents

Description

  The present invention relates to a driving support device, a driving support method, and a driving support program.

  Techniques for supporting driving of a vehicle by an occupant (for example, a driver) have been proposed. As an example of technology that supports driving of a vehicle, in order to increase the safety of automatic driving control of the vehicle, the automatic driving is canceled when a predetermined condition for performing the automatic driving is not satisfied during the automatic driving of the vehicle. There is known an apparatus that performs a notification to prompt an occupant (see, for example, Patent Document 1).

  In addition, in order to appropriately switch from automatic driving that supports driving of the vehicle to manual driving by an occupant, when it is determined that the safety of the vehicle can be ensured when switching to manual driving, the automatic driving of the vehicle is canceled. A technique is known (for example, refer to Patent Document 2). Also, with this technology, automatic driving cannot be continued, and it is possible to notify the occupant to switch to manual driving.

JP 2014-106854 A JP 2010-264829 A

  However, when performing a notification prompting to cancel automatic driving or switching to manual driving, the automatic driving is canceled without noticing that the occupant shifts to manual driving due to failure to confirm the notification, etc. There is a risk that smooth transition to manual operation may result. In addition, during automatic driving that supports driving of the vehicle, the occupant thinks that driving sovereignty is entrusted to the vehicle side, and may be more relaxed than driving manually. There is a case where the attitude towards is unclear. In this case, there is a possibility that the automatic operation is switched to the manual operation without being ready for the passenger to shift to the manual operation, and the manual operation cannot be smoothly performed.

  The present invention has been made in consideration of the above-described facts, and provides a driving support device, a driving support method, and a driving support program capable of presenting information that can smoothly shift to manual driving to the occupant. The purpose is to do.

  In order to achieve the above object, the driving support device according to the present invention is configured such that the occupant manually drives from a driving operation state in which a driving support unit that performs driving support processing that supports driving of the vehicle by the occupant performs the driving support processing. A switching information acquisition unit that acquires switching information indicating switching to a traveling operation state, a tension information acquisition unit that acquires information indicating the occupant's tension, and a perceptual state that indicates a state of stimulation perceived by the occupant by contact When the switching information is acquired, the perceptual state presenting unit presenting the first perceptual state corresponding to the degree of tension is presented by the perceptual state presenting unit as the perceptual state, And a control unit that causes the perceptual state presenting unit to present the second perceived state that is determined when the vehicle is manually operated.

  According to the present invention, information indicating switching information and occupant tension is acquired. The switching information indicates that the driving support unit that performs the driving support process switches from the driving operation state in which the driving support process is performed to the driving operation state in which the occupant manually operates. The perceptual information presentation unit is capable of presenting a perceptual state indicating a state of a stimulus perceived by contact to the occupant. When acquiring the switching information, the control unit causes the perceptual state presentation unit to present the first perceptual state corresponding to the degree of tension as the perceptual state, and the second perception determined when the occupant manually operates from the first perceptual state. The perceived state presenting unit is presented so as to shift to the state. Thus, when switching information is acquired, the perceived state can be presented to correspond to the occupant's tension level, the perceived state can be presented to correspond to the tension level suitable for manual driving, and smooth manual driving can be achieved. Can be migrated.

  Further, as described in claim 2, the perceptual state presenting unit is capable of presenting the perceptual state indicating at least one of rigidity and temperature, and the control unit is configured as the first perceptual state as the first perceptual state. Control can be performed using a set value that specifies at least one of the rigidity and the first temperature, and a set value that specifies at least one of the second rigidity and the second temperature as the second perceived state. As described above, since a tactile perceptual state can be presented by at least one of rigidity and temperature, it is possible to reduce the burden on the occupant's cognition compared to the transmission of information by display such as character display or voice display.

  Further, according to a third aspect of the present invention, the perceptual state presentation unit includes a vibration unit that can vibrate in a predetermined cycle, and the control unit presents the first perceived state, and a pair of exhalation and inspiration of the occupant. From the first vibration state of the vibration unit that is vibrated using the first cycle, and the vibration unit is vibrated using the first cycle corresponding to the tension level. The vibration part can be vibrated so as to shift to a second vibration state in which the vibration part is vibrated using a second period determined corresponding to the breathing period when the occupant manually operates. In this way, since it is possible to shift to a respiration rate suitable for manual driving, it is possible to provide the driver with a perceptual sense that the occupant switches to the driving operation state in which the driving is manually performed. Accordingly, the occupant is prevented from feeling uncomfortable when suddenly switching from automatic driving to manual driving, and can smoothly transition from automatic driving to manual driving.

  As described in claim 4, the perceptual state presentation unit can be provided on at least one of the steering and the seat. Thus, information can be reliably presented to the occupant at a position touched when the occupant manually operates.

  In addition, as described in claim 5, the control unit stores a plurality of guidance patterns indicating a transition from the first perception state to the second perception state, and the guidance selected from the plurality of guidance patterns Based on the pattern, the perceived state can be shifted from the first perceived state to the second perceived state. Thereby, it is possible to easily select an appropriate perceived state to be provided to the occupant and smoothly shift to manual operation.

  In the vehicle information presentation method according to the present invention, the driving support unit that performs the driving support process for supporting driving of the vehicle by the occupant switches from the driving operation state in which the driving support process is performed to the driving operation state in which the occupant manually operates. In the perceptual state presentation unit that presents the perceptual state indicating the state of the stimulus perceived by the contact to the occupant when the switch information is acquired. , Presenting a first perceived state corresponding to the degree of tension, and presenting the first perceived state so as to shift to a second perceived state determined when the occupant manually operates.

  The vehicle information presentation program according to the present invention includes a computer that performs a driving operation in which the occupant manually drives from a driving operation state in which a driving support unit that performs driving support processing that supports driving of the vehicle by the occupant performs the driving support processing. The perception state which acquires the switching information which shows switching to a state, acquires the information which shows a crew member's tension, and presents the perception state which shows the state of the stimulus perceived by contact to a crew member when acquiring the switching information A process including causing the presenting unit to present a first perceptual state corresponding to the degree of tension and causing the presenting unit to present a transition to the second perceived state determined when the occupant manually operates from the first perceived state is executed. Let

  Also by such a driving support method and a driving support program, an occupant who has boarded the vehicle can smoothly shift to manual driving by perceiving a stimulus due to a perceptual state.

  As described above, according to the present invention, there is an effect that information that allows the occupant to smoothly shift to manual driving from the driving operation state in which driving of the vehicle is supported can be presented to the occupant in a perceptible manner.

It is a block diagram which shows an example of a structure of the driving assistance device which concerns on 1st Embodiment. It is an elevation view showing an example of steering. It is a block diagram which shows an example of a structure containing the inside of a steering. It is a block diagram which shows an example of a structure of a seat seat. It is a characteristic view which shows an example of the tension degree of a driver, and an example of a perception state. It is a characteristic view which shows another example of a perception state. It is a flowchart which shows an example of the flow of control processing. It is a flowchart which shows the modification of the flow of control processing. It is a block diagram which shows an example of a structure of the driving assistance device which concerns on 2nd Embodiment. It is a flowchart which shows an example of the flow of the control processing which concerns on 2nd Embodiment.

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings.

(First embodiment)
FIG. 1 shows an example of the configuration of a driving support apparatus 10 according to an embodiment of the present invention. The driving support device 10 is an example of a driving support device according to the present invention. The driving support device 10 is mounted on a vehicle and is a device that supports driving of a vehicle by an occupant (for example, a driver, hereinafter referred to as a driver).

  As shown in FIG. 1, the driving support device 10 includes a control device 12, a driving support unit 26, an in-vehicle camera 28, a steering perception unit 30, and a seat seat perception unit 32. The control device 12 includes a CPU 14, a RAM 16, a ROM 18 as a non-volatile storage unit that stores the control program 20, and an input / output interface unit (I / O) 22 that communicates with an external device. Are connected to each other. The I / O 22 is connected to a driving support unit 26, an in-vehicle camera 28, a steering perception unit 30, and a seat seat perception unit 32.

  The driving support unit 26 includes an automatic steering system, and performs driving support processing such as steering behavior that supports driving of the vehicle by the driver. Moreover, the driving assistance part 26 can memorize | store the information which shows the driving operation state of a vehicle, and can output the information which shows the memorize | stored driving operation state of the vehicle. The information indicating the driving operation state of the vehicle is information indicating a manual driving state where the vehicle is manually driven by the driver, or information indicating an automatic driving state where the driving support unit 26 supports driving of the vehicle by the driver. is there.

  The driving support unit 26 outputs predetermined information related to driving support of the vehicle. The driving support unit 26 can output switching information indicating that the driving operation state of the vehicle is switched from the automatic driving state to the manual driving state as the predetermined information.

  For example, the driving support unit 26 automatically terminates (cancels) the driving support process in accordance with the behavior of the vehicle and the surrounding conditions during the driving support process and prompts the driver to manually drive the vehicle. be able to. In this case, the driving support unit 26 outputs switching information to prompt the driver to manually drive the vehicle. Further, the driving support unit 26 switches, as switching information, a case in which the sovereignty of the driving of the vehicle accompanying the advancement of driving driving technology of the vehicle is returned from the vehicle side to the driver, that is, switching from automatic driving by driving support processing to manual driving of the driver In the case, the switching information is output as information indicating that the driving sovereignty is transferred.

  Note that the driving support unit 26 may include a communication device that exchanges information between the vehicle and the outside of the vehicle to receive peripheral information. An example of the communication device is a communication device that receives road conditions by road-to-vehicle communication such as a wireless communication device using DSRC (Dedicated Short Range Communications) narrow-range communication. In addition, information indicating road conditions received by road-to-vehicle communication, which is peripheral information, includes the curvature of the lane and the shape and state of the lane such as the road surface cant, the positional relationship of the vehicle with respect to the lane, Information indicating the positional relationship of the vehicle and the traffic volume around the vehicle. The driving support unit 26 can include a navigation system as an example of a device for obtaining peripheral information.

  The in-vehicle camera 28 is provided in the upper part on the vehicle interior side and functions as a sensor for detecting the tension level of the driver. The in-vehicle camera 28 images the driver and outputs the captured image to the control device 12. The control device 12 specifies the posture of the driver and the position of a part of the body (for example, a face) by performing image processing on the captured image, and obtains the degree of tension. For example, the control device 12 selects an image similar to the captured driver's face image from among images corresponding to a plurality of predetermined tension levels as the driver's facial expression, and presents the tension level indicated by the selected image. And the driver's tension. The driver's tension may appear in the driver's posture. For example, during the driving support process, the seat seat may be shifted to a relaxed state with respect to the driver's posture in manual driving. In this case, the driver posture may be specified from the captured image, and the amount of variation from the driver posture when the specified driver posture is manually operated may be obtained as the current driver tension.

  The degree of tension may be obtained by detecting the driver's body temperature with an infrared camera instead of the in-vehicle camera 28, and determining the degree of tension that increases as the body temperature increases based on the detected body temperature. . Further, the image processing for detecting the driver's tension level from the captured image is not limited to the above.

  The steering perception unit 30 is a functional unit that is provided in the steering 34 (FIG. 2) and that can give a stimulus as a perceptual state from the steering 34 to the driver. The perceived state indicates a state of a stimulus perceived by the passenger by contact. The steering sensor unit 30 includes a rigid unit 30A that adjusts the rigidity of the steering wheel 34 to the driver and presents the stimulus, and a temperature unit 30B such as a Peltier element that adjusts the temperature of the steering wheel 34 and presents the stimulus to the driver.

  The steering perception unit 30 can give a stimulus to the driver from the steering 34 in a perceptual state based on a stimulus value corresponding to the driver's tension. That is, the stimulus by the perceived state is determined by the stimulus value, and the stimulus value can correspond to the driver's tension. Therefore, the steering perception unit 30 can present to the driver a perceived state corresponding to the driver's tension based on the input stimulus value. The correspondence between the driver's tension level and the stimulus value can be obtained experimentally in advance. Specifically, in the rigid portion 30A of the steering perception unit 30, the value indicating the stiffness of the steering 34 is a stimulus value, and in the temperature unit 30B, the value indicating the temperature of the steering 34 is a stimulus value. The correspondence between the driver's tension level and the stimulus value is stored in the ROM 18.

  FIG. 2 shows an example of a steering wheel 34 provided with a steering sensor unit 30.

  A boss portion 36 is provided on the steering 34, and the boss portion 36 is disposed at the center portion of the steering 34. The rear end (upper end) of a circular steering shaft 38 as an operation shaft is fixed to the boss portion 36, and the steering 34 can rotate integrally with the steering shaft 38 with the steering shaft 38 as a central axis. Has been. A spoke portion 40 is fixed to an end portion (upper end) of the steering shaft 38, and the spoke portion 40 extends from the boss portion 36 to the outside in the radial direction of the steering 34 and can rotate integrally with the boss portion 36. Has been.

  An annular rim portion 42 is fixed to the tip of the spoke portion 40. The rim portion 42 is disposed along the circumferential direction of the steering 34 (longitudinal direction of the rim portion 42), and the central axis is the steering shaft 38. The boss portion 36 and the spoke portion 40 can be rotated together. The rim portion 42 can be gripped by a driver, and the steering shaft 38 is rotated and the vehicle is steered by rotating the steering 34 in a state where the driver grips the rim portion 42.

  FIG. 3 shows an example of the internal structure of the steering wheel 34 including the steering sensor unit 30. FIG. 3 also shows a partial cross-sectional view of the rim portion 42.

  The rim portion 42 is provided with a substantially cylindrical steering core material 44 (steering base material) made of urethane or wood as a central member. The steering core material 44 extends over the entire circumferential direction of the steering 34. Has been placed. A steering bag 46 is provided around the steering core member 44. In the present embodiment, the steering bag 46 is configured to be able to be filled with fluid, and the rigidity is changed by the outflow or inflow of the fluid by the pump 50 for taking in and out the fluid provided in the spoke portion 40. It is like that. The outflow or inflow of the fluid by the pump 50 is controlled by the control device 12. Therefore, the pump 50 and the steering bag 46 function as the rigid portion 30A.

  Further, the steering core member 44 and the steering bag 46 are accommodated in a substantially cylindrical steering outer peripheral member 48 made of urethane or the like as an outer peripheral member. The steering outer peripheral member 48 is embedded with a heat ray connected to a heat source unit 52 such as a Peltier element, and the temperature of the outer periphery of the steering 34 is changed by the energy supply by the heat source unit 52. Therefore, the heat source part 52 and the steering outer peripheral member 48 function as the temperature part 30B.

  As shown in FIG. 1, the seat seat perception unit 32 includes a rigid portion 32 </ b> A that adjusts the rigidity of the seat seat 54 to the driver to present a stimulus and a temperature portion that adjusts the temperature of the seat seat 54 to the driver and presents the stimulus. 32B is provided. The seat seat perception unit 32 is a functional unit that is provided in the seat seat 54 (FIG. 4) and can give a stimulus as a perceptual state from the seat seat 54 to the driver.

  Note that, similarly to the steering perception unit 30, the seat seat perception unit 32 can give a stimulus to the driver from the seat seat 54 in a perceptual state based on a stimulus value corresponding to the driver's degree of tension.

  FIG. 4 shows an example of a seat sheet 54 provided with a seat seat sensing unit 32. Note that an arrow UP and an arrow FR shown in FIG. 4 indicate the vehicle up-down direction upper side and the vehicle front-rear direction front side.

  As shown in FIG. 4, a seat bag 60 for the seat surface is provided in the seat surface portion 58 of the seat seat 54. The seat bag 60 is configured so as to be filled with fluid, and the rigidity is changed by the outflow or inflow of the fluid by the pump 62 for taking in and out the fluid provided in the seat surface portion 58. The outflow or inflow of the fluid by the pump 62 is controlled by the control device 12. In addition, a seat bag 64 for the back surface is provided in the back surface portion 56 of the seat seat 54, similarly to the seat surface portion 58. The rigidity of the seat bag 64 is changed by the outflow or inflow of fluid by a pump 66 provided in the back surface portion 56. The outflow or inflow of fluid by the pump 66 is controlled by the control device 12. Accordingly, the pumps 62 and 66 and the seat bags 60 and 64 function as the rigid portion 32A.

  Further, a heater 68 is embedded on the driver side of the seat surface portion 58 of the seat seat 54, and the temperature of the seat surface portion 58 of the seat seat 54 is changed by the heater 68. A heater 70 is also embedded on the driver side of the back surface portion 56 of the seat seat 54, and the temperature of the back surface portion 56 of the seat seat 54 is changed by the heater 70. Accordingly, the heaters 68 and 70 function as the temperature unit 32B.

  An actuator 49, which is a steering vibrator, can be attached to the steering 34 of the vehicle. In addition, an actuator 72 that is a vibrator for a seating surface can be attached in the seat surface portion 58 of the seat, and an actuator 74 that is a vibrator for the seating surface can be attached in the back surface portion 56 of the seat. it can. Each of these actuators 49, 72, and 74, which are vibrators, can present a stimulus to the driver by vibration. Note that the actuators 49, 72, and 74 are not limited to being mounted at the positions shown in FIG. 4 as long as they can present stimulation by vibration to the driver.

  These actuators 49, 72, and 74 can function as a rigid portion 30A that adjusts rigidity and presents a stimulus, and a rigid portion 32A. For example, when the actuators 49, 72, and 74 are vibrated at a specific vibration cycle, the amplitude of the amplitude can be increased or decreased, and the strength can be presented.

  The control device 12 functions as a control unit of the driving support device of the present invention by the control program 20 being read from the ROM 18 and expanded in the RAM 16 and the control program 20 expanded in the RAM 16 being executed by the CPU 14.

  The driving support device 10 is an example of a driving support device according to the present invention. The control device 12 is an example of a switching information acquisition unit, a tension information acquisition unit, and a control unit according to the present invention, and the steering perception unit 30 and the seat seat perception unit 32 are an example of a perception state presentation unit according to the present invention. is there.

  Here, the tension degree of the driver when the traveling operation state of the vehicle is switched from the automatic driving state to the manual driving state will be described.

  FIG. 5 shows an example of a change in the driver's tension as a characteristic 80 and an example of a transition of the perceived state as a characteristic 82. As shown as characteristic 80 in FIG. 5, in an automatic driving state in which driving of the vehicle is supported (during automatic driving), the driver thinks that driving sovereignty is entrusted to the vehicle side and drives manually. There are cases where the tension G is lower than the tension Gth suitable for manual driving, and the tension G is lower than the tension G1. When shifting from the automatic operation to the manual operation in the state of the tension level G1, in order to change the tension level to the tension level Gth, the transition time of the times T1 to T2 is necessary. That is, when switching from automatic operation to manual operation, in this case, it is preferable to switch the driver to manual operation after the driver has made preparations before shifting to the manual operation state.

  Therefore, in this embodiment, when switching from the automatic driving state to the manual driving state, first, the first perceived state St along the current driver's tension is presented. For example, the rigidity of the steering 34 is adjusted by the rigidity part 30A of the steering perception unit 30 from the rigidity of the steering 34 according to the current perception state S1 to the rigidity according to the first perception state St along the current driver's tension G1. That is, the rigidity of the steering 34 is synchronized with the current driver's tension G1. The perceived state may be any of the temperature of the steering 34, the rigidity and temperature of the seat 54, and may be combined. Thereby, it can be shown toward the driver from the vehicle side that the driver's tension G is grasped, and the driver can be given a sense of security.

  Next, after the perceived state S is synchronized with the current driver's tension level G1, the second perceived state Sth corresponding to the tension level Gth suitable for manual driving by the driver is gradually presented. Therefore, the driver is guided toward the second perceived state Sth corresponding to the degree of tension Gth suitable for manual driving by the perceived state that is gradually changed and presented. That is, the driver can be guided to a tension degree Gth suitable for manual driving by gradually changing and presenting the perceived state S presented to the driver from the first perceived state St to the second perceived state Sth. Thus, the driver can be guided to the tension degree Gth suitable for manual operation, and when switching from the automatic operation state to the manual operation state, the driver can smoothly shift to the manual operation.

  In the present embodiment, the above-described transition of the perceived state (characteristic 82) can be stored as a guide pattern in a plurality of ROMs 18, and a guide pattern selected from a plurality of guide patterns can be used. FIG. 5 shows an example in which the perceptual state is linearly transitioned. However, the present invention is not limited to a linear perceptual state transition, and may be a curved line or a non-linear transition.

  FIG. 6 shows another example of the transition of the perceptual state as a characteristic 84. A characteristic 84 shown in FIG. 6 is obtained by changing the perceived state before the perceived state S is changed to the second perceived state Sth corresponding to the tension degree Gth suitable for manual driving. For example, before the rigidity of the steering 34 is changed to the rigidity based on the second perceived state Sth suitable for manual driving, the rigidity is shifted to the rigidity based on the higher perceived state S2 and then shifted to the rigidity based on the second perceived state Sth. This makes it easier for the driver to notice the transition to the second perceived state Sth, and can easily guide the driver to the degree of tension Gth suitable for manual driving.

  Next, as an operation of the present embodiment, processing executed by the control device 12 of the driving support device 10 will be described with reference to a flowchart shown in FIG. When the switching information output from the driving support unit 26 is acquired via the I / O 22, the control device 12 executes a perceptual state control process illustrated in FIG.

  In step 100, the control device 12 acquires information indicating the driver's tension G1 and information indicating the tension Gth suitable for driving. Information indicating the driver's tension G1 is obtained by specifying the posture of the driver and the position of a part of the body (for example, the face) by the control device 12 performing image processing on the driver's captured image captured by the in-vehicle camera 28. be able to. In step 100, the obtained degree of tension is acquired as information indicating the driver's degree of tension G1. Information indicating the tension level Gth is acquired by reading the tension level Gth stored in the ROM 18.

  In the next step 102, it is determined whether or not the current driver's tension is a tension suitable for driving. In other words, the control device 12 determines whether or not the tension G1 of the driver acquired in Step 100 and the tension Gth suitable for driving match or are within a predetermined range. If an affirmative determination is made in step 102, the control device 12 ends the present processing routine. If a negative determination is made, the control device 12 proceeds to step 104.

  In step 104, a first perceptual state corresponding to the driver's current tension G1 is identified. That is, as the stimulus value corresponding to the current tension degree G1 of the driver, at least one stimulus value of the stiffness and temperature of the steering 34 and the stiffness and temperature of the seat 54 is determined. In the next step 106, the perceptual state presented to the driver is adjusted to be the first perceptual state. That is, the control device 12 performs control so that the stimulus based on the stimulus value determined in step 104 is presented at least one of the steering perception unit 30 and the seat seat perception unit 32 corresponding to the stimulus value. Accordingly, either the rigidity and temperature of the steering 34 and the rigidity and temperature of the seat 54 are tuned to the current driver's tension G1. Thereby, it can be shown from the vehicle side to the driver that the driver's tension G1 is grasped, and a sense of security can be given to the driver.

  Next, the control apparatus 12 acquires a guidance pattern by reading the guidance pattern memorize | stored in ROM18 by step 108. FIG. The guidance pattern acquired in step 108 may be a predetermined guidance pattern or a guidance pattern selected from a plurality of guidance patterns. When acquiring a guide pattern selected from a plurality of guide patterns, a guide pattern used for each of the steering perception unit 30 and the seat perception unit 32 can be determined and selected in advance.

  In the next step 110, the second perceptual state according to the degree of tension suitable for driving is specified. That is, at least one stimulus value of the stiffness and temperature of the steering 34 and the stiffness and temperature of the seat 54 is determined as the stimulus value corresponding to the tension degree Gth suitable for the driving of the driver. In the next step 112, the perceptual state presented to the driver is adjusted to be in the second perceptual state according to the guidance pattern acquired in step 108. That is, the control device 12 performs control so that the stimulus based on the stimulus value determined in step 110 is presented at least one of the steering perception unit 30 and the seat seat perception unit 32 corresponding to the stimulus value. Accordingly, any one of the rigidity and temperature of the steering 34 and the rigidity and temperature of the seat 54 is guided to the tension degree Gth suitable for the driving of the driver.

  In the next step 114, information indicating the driver's tension G1 is acquired in the same manner as in step 100, and the process proceeds to step 116. In step 116, as in step 102, it is determined whether or not the current driver's tension is a tension suitable for driving. If the determination is affirmative, this processing routine is terminated, and the determination is negative. The process is returned to step 112.

  In this way, the driver can be guided to the tension level Gth suitable for manual operation, and when switching from the automatic operation state to the manual operation state, the driver can smoothly shift to the manual operation.

  When the perceived state reaches the second perceived state corresponding to the tension Gth suitable for driving, the driver's tension may not reach the tension Gth suitable for driving due to individual differences. In this case, a predetermined time may be waited, and a guidance pattern (for example, see FIG. 6) for notification may be presented to the driver again after the predetermined time.

  In addition, the driver may have grasped the perceived state suitable for manual driving and desire to be guided to the grasped perceived state. In this case, when the perceived state is guided from the first perceived state to the second perceived state, a perceived state suitable for manual driving that is already grasped by the driver may be stored in the ROM 18 and read and used.

  FIG. 8 shows an example of the flow of processing for shifting to the perceptual state specified by the driver. The processing shown in FIG. 8 is executed in place of the processing from step 112 to step 116 shown in FIG.

  That is, the control device 12 reads the guidance pattern stored in the ROM 18 in step 108, and in step 120, reads the perceptual state designated by the driver from the ROM 18 and identifies it as the second perceptual state. In the next step 122, the perceptual state presented to the driver is adjusted to be in the second perceptual state according to the guidance pattern acquired in step 108. That is, in step 124, the second perceptual state is gradually adjusted until an affirmative determination is made. The determination result of step 124 can be used as a determination result of whether or not the current driver's tension level is a tension level suitable for driving.

  In this way, when the driver has already registered the perceived state suitable for manual driving in the ROM 18 or the like, the registered perceived state is an environment suitable for driving by the driver. A registered perceptual state in line with the driver's intention can be provided.

  As described above, in the present embodiment, when switching from automatic driving to manual driving by the driver, the vehicle knows that the driver's tension G1 is grasped by synchronizing the perceived state with the driver's tension G1. It can be presented to the driver from the side, giving the driver a sense of security. In addition, the driver can be guided to a tension degree Gth suitable for manual operation, and when switching from the automatic operation state to the manual operation state, the driver can smoothly shift to the manual operation.

  In this embodiment, since information can be transmitted to the driver by presenting a tactile perceptual state instead of transmitting information by display such as character display or voice display, the burden on driver recognition can be reduced. it can.

(Second Embodiment)
Next, a second embodiment will be described. In addition, since 2nd Embodiment is the structure similar to 1st Embodiment, it attaches | subjects the same code | symbol about the same structure, and abbreviate | omits description.

  In the present embodiment, the present invention is applied to the case where the driver is guided to a degree of tension suitable for driving by presenting a perceptual state that gives a stimulus according to the respiratory rate of the driver.

  FIG. 9 shows an example of the configuration of the driving support apparatus 10 according to the present embodiment. As shown in FIG. 9, the steering perception unit 30 according to the present embodiment includes a vibration unit 30 </ b> C that adjusts the vibration generated by the steering 34 to the driver and presents the stimulus, and the seat seat perception unit 32 includes the driver Includes a vibration unit 32 </ b> C that adjusts the vibration generated in the seat 54 and presents a stimulus. The vibration unit 30C corresponds to the actuator 49 shown in FIG. 4, and the vibration unit 32C corresponds to the actuators 72 and 74. The ROM 18 stores information indicating the respiration rate suitable for driving.

  Next, the operation of this embodiment will be described. In addition, this embodiment replaces with the process performed by step 108-step 116 shown in FIG. 7, and changes to the 2nd perceptual state corresponding to the tension | tensile_strength Gth suitable for a driving | operation at FIG. Steps 130 to 138 shown are executed. FIG. 10 shows an example of a processing flow for guiding the respiratory rate of the driver to a respiratory rate suitable for driving.

  In step 108, the control device 12 reads the guidance pattern stored in the ROM 18 to obtain the guidance pattern.

  Next, the control apparatus 12 acquires the information which shows the present driver | operator's respiration rate in step 130. FIG. Information indicating the current respiration rate of the driver can be acquired based on a plurality of captured images captured by the in-vehicle camera 28 in time series. In the present embodiment, the in-vehicle camera 28 also functions as a sensor for detecting the respiratory rate of the driver. That is, the in-vehicle camera 28 images the driver and outputs the captured image to the control device 12. The control device 12 obtains the current driver's respiration rate by performing image processing on a plurality of captured images taken in time series.

  For example, the size of the chest changes as the driver breathes, that is, exhaled and inhaled by the driver. Therefore, the driver's chest is imaged in time series by the in-vehicle camera 28, the size of the chest circumference, for example, the horizontal length of the chest is obtained for each captured image, and the captured image and the minimum size of the chest circumference are maximized. And a captured image to be identified. Since the imaging cycle (time) of the captured images taken in time series is known, it is possible to obtain the time until the size of the chest circumference becomes the minimum to the minimum. Therefore, the respiratory rate per unit time (for example, 1 minute) can be obtained from the time of the respiratory cycle in which the pair of exhalation and inspiration of the driver is one cycle. Accordingly, in step 130, the control device 12 obtains the respiration rate from a plurality of captured images taken by the driver in time series by the in-vehicle camera 28, and obtains information indicating the obtained respiration rate.

  Next, in step 132, the control device 12 acquires information indicating the respiration rate suitable for driving from the ROM 18, and proceeds to step 134.

  In step 134, according to the obtained guidance pattern, the vibration cycle is gradually changed so that the first perception state based on the respiration cycle of the current driver's respiration rate changes to the second perception state based on the respiration rate suitable for driving. Thus, the vibration units 30C and 32C are controlled. That is, the stimulation values of the first perception state and the second perception state are obtained, and the vibration units 30C and 32C are controlled so as to shift from the first perception state based on the obtained stimulation value to the second perception state.

  Specifically, in the first perceived state, at least one of the actuator 49 of the steering 34 and the actuators 72 and 74 of the seat seat 54 is set as a stimulus value having a respiratory cycle corresponding to the current respiratory rate of the driver as a vibration cycle. Determined. Further, in the second perceptual state, at least one stimulus of the actuator 49 of the steering 34 and the actuators 72 and 74 of the seat seat 54 is set as a stimulus value having a breathing cycle corresponding to the breathing rate suitable for the driving of the driver as a vibration cycle. A value is defined.

  Next, the first perception state is adjusted to the second perception state according to the guidance pattern. That is, the control device 12 changes the vibration cycle gradually by at least one of the actuator 49 of the steering 34 and the actuators 72 and 74 of the seat seat 54, thereby vibrating the breathing cycle corresponding to the current driver's breathing rate. From the period, the vibration period of the actuator is gradually changed from the respiration period corresponding to the respiration rate suitable for the driving of the driver to the vibration period. As a result, either the actuator 49 of the steering 34 or the actuators 72 and 74 of the seat 54 is vibrated at a respiratory cycle corresponding to the respiration rate suitable for the driver's operation, and the driver is guided to a state suitable for the driver's operation. Is done.

  In the next step 136, the information indicating the respiration rate of the driver is acquired as in step 130, and the process proceeds to step 138. In step 138, it is determined whether or not the current driver's respiration rate is a respiration rate suitable for driving. If the determination is affirmative, this processing routine is terminated. If the determination is negative, the processing proceeds to step 134. Returned.

  Thus, the driver can be guided to a respiration rate suitable for manual operation, and when switching from the automatic operation state to the manual operation state, the driver can smoothly shift to the manual operation.

  As described above, in the present embodiment, when switching from automatic operation to manual operation by a driver, it is possible to gradually shift to a respiration rate suitable for manual operation, so that preparation for switching from automatic operation to manual operation can be perceived. Can be provided to the driver. Accordingly, the driver can be prevented from feeling uncomfortable when suddenly switching from automatic driving to manual driving, and can smoothly shift from automatic driving to manual driving.

  In the above-described embodiment, the case where an in-vehicle camera is used to detect the tension level of the driver has been described. However, another sensor may be used for the tension level of the driver. An example of a sensor for detecting the tension level of a driver includes a detector that detects a heartbeat or a pulse. A detector for detecting a heartbeat or a pulse may be attached to a part of the body such as the driver's arm or chest, or may be provided on a seat, for example, which is touched by the driver inside the vehicle. When the detector is attached to the driver, the detector may be provided with a transmitter that transmits the detection result by wireless communication, and may be received by the control device 12.

  Further, the processing performed by the control device 12 in the above embodiment may be stored and distributed as a program in a storage medium or the like.

  In the above-described embodiment, the processing performed by executing the program according to the flowchart has been described. However, the processing of the program may be realized by hardware.

10 Driving support device (driving support device)
12 Control device (control unit)
20 Control Program 26 Driving Support Unit 28 Car-mounted Camera (Tension Level Information Acquisition Unit)
30 Steering perception unit (perception state presentation unit)
32 Seat seat perception unit (perception state presentation unit)
82 Characteristics (guidance pattern)
84 Characteristics (guidance pattern)
G Tension Gth Tension S Perception state St First perception state Sth Second perception state

Claims (7)

Switching information acquisition that acquires switching information indicating that the driving support unit that performs driving support processing that supports driving of the vehicle by the occupant switches from the driving operation state in which the driving support processing is performed to the driving operation state in which the occupant manually operates And
A tension information acquisition unit for acquiring information indicating the tension of the passenger;
A perceptual state presentation unit for presenting a perceived state indicating a state of a stimulus perceived by contact to a passenger;
When the switching information is acquired, a second perceptual state determined when the perceived state presents a first perceived state corresponding to the tension level by the perceived state presenting unit and the occupant manually operates from the first perceived state. A control unit that causes the perceived state presenting unit to present a transition to a perceived state;
A driving assistance device comprising: The perceptual state presentation unit is capable of presenting the perceptual state indicating at least one of rigidity and temperature.
The control unit uses a setting value that specifies at least one state of the first stiffness and the first temperature as the first perceptual state, and sets at least one state of the second stiffness and the second temperature as the second perceptual state. The driving support device according to claim 1, wherein the driving support device is controlled using a specified set value. The perceptual state presentation unit includes a vibration unit that can vibrate in a predetermined cycle,
The control unit presents the first perceptual state, corresponds to a breathing cycle in which a pair of exhalation and inspiration of a passenger is one cycle, and vibrates the vibration unit using a first cycle corresponding to the degree of tension. The vibration unit is vibrated using a second cycle determined corresponding to the breathing cycle when the occupant manually operates from the first vibration state of the vibration unit vibrated using the first cycle. The driving support device according to claim 1, wherein the vibration unit is vibrated so as to shift to the second vibration state. The driving assistance device according to any one of claims 1 to 3, wherein the perceptual state presentation unit is provided on at least one of a steering wheel and a seat. The control unit stores a plurality of guidance patterns indicating a transition from the first perception state to the second perception state, and based on the guidance pattern selected from the plurality of guidance patterns, from the first perception state The driving assistance device according to any one of claims 1 to 4, wherein the perceived state is shifted to the second perceived state. The driving support unit that performs driving support processing that supports driving of the vehicle by the occupant acquires switching information indicating that the driving operation state in which the occupant manually switches from the driving operation state in which the driving support processing is performed,
Get information about the tension of the crew,
When the switching information is acquired, the perceptual state presenting unit that presents the perceived state indicating the state of the stimulus perceived by the contact to the occupant is presented with the first perceived state corresponding to the degree of tension, and the first perceived state A driving support method including causing a passenger to present a transition to the second perceived state determined when the occupant manually drives. On the computer,
The computer is
The driving support unit that performs driving support processing that supports driving of the vehicle by the occupant acquires switching information indicating that the driving operation state in which the occupant manually switches from the driving operation state in which the driving support processing is performed,
Get information about the tension of the crew,
When the switching information is acquired, the perceptual state presenting unit that presents the perceived state indicating the state of the stimulus perceived by the contact to the occupant is presented with the first perceived state corresponding to the degree of tension, and the first perceived state A driving support program for executing a process including causing a passenger to present a transition to a second perceived state determined when the occupant manually drives.

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